better-actuator-models 1.0.0__tar.gz

better_actuator_models-1.0.0/LICENSE

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better_actuator_models-1.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: better-actuator-models
+Version: 1.0.0
+Summary: BAM: Better Actuator Models is a Python library dedicated to the identification and simulation of advanced actuator models.
+Author: Marc Duclusaud, Grégoire Passault
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/Rhoban/bam
+Project-URL: Repository, https://github.com/Rhoban/bam
+Keywords: robot,robotics,actuator,simulation,friction
+Classifier: Programming Language :: Python :: 3
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.12
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: zmq
+Requires-Dist: protobuf<4.0,>=3.20
+Requires-Dist: numpy
+Requires-Dist: dynamixel_sdk
+Requires-Dist: optuna
+Requires-Dist: cmaes
+Requires-Dist: wandb
+Requires-Dist: matplotlib
+Requires-Dist: scipy
+Requires-Dist: colorama
+Requires-Dist: rustypot>=1.5.0
+Dynamic: license-file
+
+<p align="center">
+  <img src="docs/_static/BAM_logo.png" alt="BAM logo" width="60%">
+</p>
+
+# BAM: Better Actuator Models
+
+Accurate models of servo actuators are essential for the simulation of robotic systems. It is particularly important while performing Reinforcement Learning (RL) on real robots, as the precision of the model impacts directly the transferability of the learned policy.
+
+The friction model generally implemented in widely used simulators like MuJoCo or IsaacGym is the Coulomb-Viscous, which is too simplistic to accurately represent complex friction phenomena like Stribeck, load-dependence or quadratic effects (read [this article](https://arxiv.org/pdf/2410.08650v1) for more details).
+
+**BAM** aims at making servo-actuator simulation more faithful by:
+
+- proposing an identification pipeline to fit friction models from recorded trajectories,
+- providing a set of extended friction models that capture complex friction phenomena,
+- sharing a library of identified models for common servos:
+  - Dynamixel MX-64
+  - Dynamixel MX-106
+  - Dynamixel XL-320
+  - Dynamixel XL330-288-T
+  - eRob80:50
+  - eRob80:100
+  - Feetech STS3215
+- providing a simple API to use these models in MuJoCo CPU and MuJoCo Warp.
+
+## 📖 Documentation
+
+Please refer to the [documentation](https://TODO-REPLACE-WITH-DOCUMENTATION-URL) for more details on how to use BAM and the provided friction models.
+
+## 📚 Citation
+
+If you use BAM or the friction models provided in this repository for your scientific work, please cite the following publication:
+
+```bibtex
+@inproceedings{duclusaud2025extended,
+  title={Extended Friction Models for the Physics Simulation of Servo Actuators},
+  author={Duclusaud, Marc and Passault, Gr{\'e}goire and Padois, Vincent and Ly, Olivier},
+  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
+  pages={12091--12097},
+  year={2025},
+  organization={IEEE}
+}
+```
+
+If you also wish to cite the software directly, you may use:
+
+```bibtex
+@software{BAM,
+  title = {{BAM: Better Actuator Models}},
+  author = {Duclusaud, Marc and Passault, Grégoire},
+  license = {Apache-2.0},
+  url = {https://github.com/Rhoban/bam},
+  version = {0.0.1},
+  year = {2024}
+}
+```

better_actuator_models-1.0.0/README.md

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+<p align="center">
+  <img src="docs/_static/BAM_logo.png" alt="BAM logo" width="60%">
+</p>
+
+# BAM: Better Actuator Models
+
+Accurate models of servo actuators are essential for the simulation of robotic systems. It is particularly important while performing Reinforcement Learning (RL) on real robots, as the precision of the model impacts directly the transferability of the learned policy.
+
+The friction model generally implemented in widely used simulators like MuJoCo or IsaacGym is the Coulomb-Viscous, which is too simplistic to accurately represent complex friction phenomena like Stribeck, load-dependence or quadratic effects (read [this article](https://arxiv.org/pdf/2410.08650v1) for more details).
+
+**BAM** aims at making servo-actuator simulation more faithful by:
+
+- proposing an identification pipeline to fit friction models from recorded trajectories,
+- providing a set of extended friction models that capture complex friction phenomena,
+- sharing a library of identified models for common servos:
+  - Dynamixel MX-64
+  - Dynamixel MX-106
+  - Dynamixel XL-320
+  - Dynamixel XL330-288-T
+  - eRob80:50
+  - eRob80:100
+  - Feetech STS3215
+- providing a simple API to use these models in MuJoCo CPU and MuJoCo Warp.
+
+## 📖 Documentation
+
+Please refer to the [documentation](https://TODO-REPLACE-WITH-DOCUMENTATION-URL) for more details on how to use BAM and the provided friction models.
+
+## 📚 Citation
+
+If you use BAM or the friction models provided in this repository for your scientific work, please cite the following publication:
+
+```bibtex
+@inproceedings{duclusaud2025extended,
+  title={Extended Friction Models for the Physics Simulation of Servo Actuators},
+  author={Duclusaud, Marc and Passault, Gr{\'e}goire and Padois, Vincent and Ly, Olivier},
+  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
+  pages={12091--12097},
+  year={2025},
+  organization={IEEE}
+}
+```
+
+If you also wish to cite the software directly, you may use:
+
+```bibtex
+@software{BAM,
+  title = {{BAM: Better Actuator Models}},
+  author = {Duclusaud, Marc and Passault, Grégoire},
+  license = {Apache-2.0},
+  url = {https://github.com/Rhoban/bam},
+  version = {0.0.1},
+  year = {2024}
+}
+```

better_actuator_models-1.0.0/bam/__init__.py

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+# Copyright 2025 Marc Duclusaud & Grégoire Passault
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at:
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+

better_actuator_models-1.0.0/bam/actuator.py

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+# Copyright 2025 Marc Duclusaud & Grégoire Passault
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at:
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+import numpy as np
+from .testbench import Testbench
+from bam.parameter import Parameter
+from .message import yellow, print_parameter
+
+
+class Actuator:
+    """Abstract base class for all BAM actuator models.
+
+    Subclasses implement the firmware control law and the motor torque equation
+    for a specific actuator family.  An actuator is always attached to a
+    :class:`~bam.model.Model` via :meth:`~bam.model.Model.set_actuator`, which
+    calls :meth:`initialize` to create the motor parameters (``kt``, ``R``, …)
+    on the model.
+
+    :param testbench_class: Class used to instantiate the testbench when a log
+        is loaded (typically :class:`~bam.testbench.Pendulum`).
+    """
+
+    def __init__(self, testbench_class: Testbench):
+        self.testbench_class = testbench_class
+        self.testbench: Testbench | None = None
+
+    def set_model(self, model):
+        """Attach this actuator to a model and run :meth:`initialize`.
+
+        :param model: :class:`~bam.model.Model` instance to attach to.
+        """
+        self.model = model
+        self.initialize()
+
+    def reset(self):
+        pass
+
+    def load_log(self, log: dict):
+        """Called when a log is loaded.
+
+        Instantiates the testbench from the log metadata (mass, length, …)
+        and updates actuator settings (kp, vin) from the log.
+
+        :param log: Log dict as loaded from a processed JSON file.
+        """
+        self.testbench = self.testbench_class(log)
+
+    def initialize(self):
+        """Create motor parameters on the attached model.
+
+        Called automatically by :meth:`set_model`. Must create at minimum
+        ``self.model.kt`` and ``self.model.R`` as :class:`~bam.parameter.Parameter`
+        instances.
+        """
+        raise NotImplementedError
+
+    def control_unit(self) -> str:
+        """Return the physical unit of the control signal (e.g. ``"volts"``, ``"amps"``)."""
+        raise NotImplementedError
+
+    def compute_control(
+        self, q_target: float, q: float, dq: float, dt: float
+    ) -> float | None:
+        """Compute the control signal from the current state and target.
+
+        :param q_target: Target joint angle [rad].
+        :param q: Current joint angle [rad].
+        :param dq: Current joint velocity [rad/s].
+        :param dt: Timestep [s].
+        :returns: Control signal in the unit given by :meth:`control_unit`.
+        """
+        raise NotImplementedError
+
+    def compute_torque(
+        self, control: float | None, torque_enable: bool, q: float, dq: float
+    ) -> float:
+        """Compute the motor torque from the control signal and current state.
+
+        :param control: Control signal (volts, amps, or Nm depending on the actuator).
+        :param torque_enable: Whether the actuator is powered.
+        :param q: Current joint angle [rad].
+        :param dq: Current joint velocity [rad/s].
+        :returns: Motor torque [Nm].
+        """
+        raise NotImplementedError
+
+    def get_extra_inertia(self) -> float:
+        """Return the actuator's apparent inertia added to the load [kg·m²]."""
+        raise NotImplementedError
+
+    def to_mujoco(self):
+        raise NotImplementedError("This actuator doesn't support to_mujoco")
+
+
+class DCMotorActuator(Actuator):
+    """Base class for DC motor actuators with a supply voltage and a P-gain.
+
+    Loads ``kp`` and ``vin`` from the log metadata when :meth:`load_log` is called.
+
+    :param testbench_class: Testbench class (see :class:`Actuator`).
+    :param vin: Default supply voltage [V].
+    :param kp: Default firmware proportional gain.
+    """
+
+    def __init__(
+        self,
+        testbench_class: Testbench,
+        vin: float,
+        kp: float,
+    ):
+        super().__init__(testbench_class)
+        self.vin = vin
+        self.kp = kp
+
+    def load_log(self, log: dict):
+        super().load_log(log)
+        self.kp = log["kp"]
+        if "vin" in log:
+            self.vin = log["vin"]
+
+    def initialize(self):
+        """Create ``kt`` and ``R`` parameters on the attached model."""
+        # Torque constant [Nm/A] or [V/(rad/s)]
+        self.model.kt = Parameter(1.0, 0.0, 10.0)
+
+        # Motor resistance [Ohm]
+        self.model.R = Parameter(1.0, 0.0, 10.0)
+
+
+class VoltageControlledActuator(DCMotorActuator):
+    """Voltage-controlled servo with a firmware P-position controller.
+
+    Implements the control law
+    ``duty_cycle = clip(error_gain * kp * Δq, -max_pwm, max_pwm)``
+    and the DC motor torque equation with back-EMF.
+
+    :param testbench_class: Testbench class (see :class:`Actuator`).
+    :param vin: Supply voltage [V].
+    :param kp: Firmware proportional gain.
+    :param error_gain: Converts ``kp * Δq`` to a duty cycle in [−1, 1].
+        Depends on the servo's internal encoder resolution and gain scaling.
+    :param max_pwm: Maximum duty cycle magnitude (default 1.0).
+    """
+
+    def __init__(
+        self,
+        testbench_class: Testbench,
+        vin: float,
+        kp: float,
+        error_gain: float,
+        max_pwm: float = 1.0,
+    ):
+        super().__init__(testbench_class, vin, kp)
+        self.error_gain = error_gain
+        self.max_pwm = max_pwm
+
+    def control_unit(self) -> str:
+        return "volts"
+
+    def compute_control(
+        self, q_target: float, q: float, dq: float, dt: float
+    ) -> float | None:
+        """Compute the voltage command from position error.
+
+        :param q_target: Target joint angle [rad].
+        :param q: Current joint angle [rad].
+        :param dq: Current joint velocity [rad/s] (unused here).
+        :param dt: Timestep [s] (unused here).
+        :returns: Voltage [V] sent to the motor.
+        """
+        duty_cycle = (q_target - q) * self.kp * self.error_gain
+        duty_cycle = np.clip(duty_cycle, -self.max_pwm, self.max_pwm)
+
+        return self.vin * duty_cycle
+
+    def compute_torque(
+        self, control: float | None, torque_enable: bool, q: float, dq: float
+    ) -> float:
+        """Compute motor torque using the DC motor equation with back-EMF.
+
+        :math:`\\tau = k_t V / R - k_t^2 \\dot{q} / R`
+
+        :param control: Voltage [V].
+        :param torque_enable: If ``False``, returns zero torque.
+        :param q: Current joint angle [rad] (unused here).
+        :param dq: Current joint velocity [rad/s].
+        :returns: Motor torque [Nm].
+        """
+        volts = control
+        torque = self.model.kt.value * volts / self.model.R.value
+        torque -= (self.model.kt.value**2) * dq / self.model.R.value
+        return torque * torque_enable
+
+    def to_mujoco(self):
+        if self.vin == 0 or self.kp == 0:
+            print(yellow(f"WARNING: kp or vin are not set"))
+
+        kt = self.model.kt.value
+        R = self.model.R.value
+
+        kp = self.error_gain * self.kp * self.vin * self.max_pwm * kt / R
+        damping = self.model.friction_viscous.value + kt**2 / R
+
+        print_parameter("forcerange", self.vin * self.model.kt.value / R)
+        print_parameter("armature", self.model.armature.value)
+        print_parameter("kp", kp)
+        print_parameter("damping", damping)
+        print_parameter("frictionloss", self.model.friction_base.value)
+
+        print("")
+
+
+class CurrentControlledActuator(DCMotorActuator):
+    """Current-controlled servo with a firmware P-position controller.
+
+    The controller outputs a target current proportional to position error,
+    clipped by both the voltage limits and a user-configurable current cap.
+
+    :param testbench_class: Testbench class (see :class:`Actuator`).
+    :param vin: Supply voltage [V], used to compute the current saturation.
+    :param kp: Firmware proportional gain.
+    :param error_gain: Converts ``kp * Δq`` to a target current [A].
+    """
+
+    def __init__(
+        self, testbench_class: Testbench, vin: float, kp: float, error_gain: float
+    ):
+        super().__init__(testbench_class, vin, kp)
+        self.error_gain = error_gain
+
+    def control_unit(self) -> str:
+        return "amps"
+
+    def initialize(self):
+        super().initialize()
+        self.model.current_limit = Parameter(1.5, 0, 3)
+        self.model.viscous_damping_with_torque = Parameter(0.0, 0.0, 0.1)
+
+    def compute_control(
+        self, q_target: float, q: float, dq: float, dt: float
+    ) -> float | None:
+        """Compute the current command from position error.
+
+        Clips the P-controller output by both the back-EMF voltage limit and
+        the ``current_limit`` parameter.
+
+        :param q_target: Target joint angle [rad].
+        :param q: Current joint angle [rad].
+        :param dq: Current joint velocity [rad/s].
+        :param dt: Timestep [s] (unused here).
+        :returns: Target current [A].
+        """
+        # Target current using simple P controller
+        current = (q_target - q) * self.kp * self.error_gain
+
+        # Maximum allowable current due to voltage limits
+        current_limit_low = (1 / self.model.R.value) * (
+            self.vin - self.model.kt.value * dq
+        )
+        current_limit_high = (1 / self.model.R.value) * (
+            -self.vin - self.model.kt.value * dq
+        )
+        current = np.clip(current, current_limit_high, current_limit_low)
+
+        # Maximum current allowed by the user to avoid heating
+        current = np.clip(
+            current, -self.model.current_limit.value, self.model.current_limit.value
+        )
+
+        return current
+
+    def compute_torque(
+        self, control: float | None, torque_enable: bool, q: float, dq: float
+    ) -> float:
+        """Compute motor torque from current command.
+
+        :math:`\\tau = k_t I - b_{\\text{active}} \\dot{q}`
+
+        :param control: Current command [A].
+        :param torque_enable: If ``False``, returns zero torque.
+        :param q: Current joint angle [rad] (unused here).
+        :param dq: Current joint velocity [rad/s].
+        :returns: Motor torque [Nm].
+        """
+        torque = (
+            self.model.kt.value * control
+            - self.model.viscous_damping_with_torque.value * dq
+        )
+        return torque * torque_enable
+
+    def to_mujoco(self):
+        if self.vin == 0 or self.kp == 0:
+            print(yellow(f"WARNING: kp or vin are not set"))
+
+        kt = self.model.kt.value
+
+        kp = self.error_gain * self.kp * kt
+        damping = (
+            self.model.friction_viscous.value
+            + self.model.viscous_damping_with_torque.value
+        )
+        
+        forcerange = self.vin * self.model.kt.value / self.model.R.value
+        forcerange = min(forcerange, self.model.current_limit.value * self.model.kt.value)
+
+        print_parameter("forcerange", forcerange)
+        print_parameter("armature", self.model.armature.value)
+        print_parameter("kp", kp)
+        print_parameter("damping", damping)
+        print_parameter("frictionloss", self.model.friction_base.value)
+
+        print("")